April 2, 2018

March 18, 2018

The gripper and Wrist are essentially completed. As I have mentioned, I have to install limit switches and angle encoders. I also need to sort out parting lines and skeletonization for weight and assembly concerns. i know whare wire conduit is going… but I haven’t put it into the models. I am just about ready to do that at the end effector… and, as with other design progress, work toward the ground connection for the armature. I will make just the gripper first to make sure fits work. I have done something I haven’t done before: fix motors without fasteners. So, tolerances with the means in which these are enveloped may have tricky issues. Envelop, snuggly, but without cinching down on the works.. nor being so slack, in any dimension, that there is rattling. It’s going to be a trick. I have scaling factors I reckon should work for the scheme. Let’s see if I’m right!